CN114673745B - Digital twinning-based friction plate management method, system, vehicle and medium - Google Patents
Digital twinning-based friction plate management method, system, vehicle and medium Download PDFInfo
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- CN114673745B CN114673745B CN202210331799.7A CN202210331799A CN114673745B CN 114673745 B CN114673745 B CN 114673745B CN 202210331799 A CN202210331799 A CN 202210331799A CN 114673745 B CN114673745 B CN 114673745B
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- 238000007726 management method Methods 0.000 title claims abstract description 68
- 238000005299 abrasion Methods 0.000 claims abstract description 141
- 230000015654 memory Effects 0.000 claims abstract description 37
- 238000013507 mapping Methods 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims description 46
- 238000012545 processing Methods 0.000 claims description 14
- 238000004088 simulation Methods 0.000 claims description 8
- 238000012549 training Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 20
- 230000008569 process Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007787 long-term memory Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D66/00—Arrangements for monitoring working conditions, e.g. wear, temperature
- F16D66/02—Apparatus for indicating wear
- F16D66/021—Apparatus for indicating wear using electrical detection or indication means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D66/00—Arrangements for monitoring working conditions, e.g. wear, temperature
- F16D2066/001—Temperature
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D66/00—Arrangements for monitoring working conditions, e.g. wear, temperature
- F16D2066/005—Force, torque, stress or strain
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Abstract
The invention discloses a friction plate management method, a friction plate management system, a friction plate management vehicle and a friction plate management medium based on digital twinning, which comprise the steps of obtaining initial physical state data of a plurality of friction plates; establishing a digital twin model comprising a plurality of digital twin bodies; acquiring current working environment information, vibration information and accumulated use time of a plurality of friction plates; according to the working environment information and the vibration information, based on each digital twin body and the long-short time memory network, the current abrasion speed of each digital twin body is obtained; according to the wear speed and the accumulated use time, updating the thickness and the total wear amount of the digital twin body in real time to obtain a digital twin model updated in real time; and carrying out braking management on the friction plate according to the digital twin model updated in real time. The invention establishes the mapping of the friction plate real object and the digital twin body by utilizing the long and short time memory network, can simulate the abrasion condition of the friction plate in real time, and carries out braking management on the friction plate according to the abrasion condition, thereby improving the braking effect and the driving safety.
Description
Technical Field
The invention relates to the technical field of vehicle braking, in particular to a friction plate management method, system, vehicle and medium based on digital twinning.
Background
For the management of friction plates in a vehicle braking system, a warning mode is mostly adopted in the prior art, a sensor is arranged on the friction plate, and when the friction plate is worn to a certain extent, a warning is triggered; the alarm modes are basically two, namely, a relatively simple mechanical alarm mode is adopted, namely, when the friction plate is worn to expose the alarm, the alarm rubs to make a harshness sound so as to play a role in alarm; the other type is a sensor type, the sensor is normally opened in a normal working state, the sensor is always in a passage, no alarm display is generated on the instrument panel of the vehicle at this time, but when the line of the sensor is ground off, the sensor is broken, the alarm display starts to be generated on the instrument panel at this time, and an owner is prompted to brake to generate abnormal conditions, so that the braking system can be maintained in real time.
For how to prolong the service life of the friction plate of the braking system, the prior art is more prone to improving the resistance of the friction plate in terms of the processing technology or the manufacturing raw materials of the friction plate, and the abrasion is rarely managed from the angle of the use process of the friction plate, and the abrasion amount of the friction plate cannot be estimated in real time; in addition, wear of the friction plate not only means a reduction in the life thereof, but also affects the effect of vehicle braking during use thereof; for example, with hydraulic systems, a small wheel cylinder displacement also affects the magnitude of the brake pressure, whereas existing brake systems typically do not take into account wear of the friction plates when performing brake control, resulting in a progressively poorer braking effect.
Therefore, a digital twinning-based friction plate management method, system, vehicle and medium are needed, which can simulate the abrasion condition of the friction plate in real time, and perform braking management on a braking system based on the abrasion condition of the friction plate, so as to improve the braking effect and driving safety.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a friction plate management method, a system, a vehicle and a medium based on digital twinning, which can simulate the abrasion condition of a friction plate in real time, and perform braking management on a braking system based on the abrasion condition of the friction plate, thereby improving the braking effect and driving safety. The technical scheme is as follows:
in one aspect, the invention provides a friction plate management method based on digital twinning, comprising the following steps:
acquiring initial physical state data of a plurality of friction plates;
establishing an initial digital twin model according to the initial physical state data; wherein the digital twin model comprises a plurality of digital twin bodies of the friction plates;
acquiring current working environment information, vibration information and accumulated use time of a plurality of friction plates;
according to the current working environment information and the vibration information, obtaining the current wear speed of the digital twin corresponding to each friction plate based on the digital twin corresponding to each friction plate and a long-short time memory network;
Obtaining the current wear degree of the digital twin body according to the wear speed and the accumulated use time;
updating the thickness and the total abrasion amount of the digital twin body in the digital twin model in real time according to the abrasion degree of the digital twin body to obtain the digital twin model after being updated in real time;
and carrying out braking management on the friction plates corresponding to each digital twin body according to the digital twin model updated in real time.
Further, the wear rate is expressed in terms of wear rate levels, which are divided into ten levels of 1 to 10, the ten wear rate levels ranging from 0 to 100% of the maximum allowable wear rate of the friction plate.
Further, before the current wear speed of the digital twin body corresponding to each friction plate is obtained based on the digital twin body corresponding to each friction plate and a long-short time memory network according to the current working environment information and the vibration information, the method further comprises:
setting different working environments and different wearing working conditions, and obtaining vibration information and accumulated use information of the friction plate through simulation so as to obtain a training set of the long-short-term memory network.
Further, the performing brake management on the friction plate corresponding to each digital twin body according to the digital twin model updated in real time includes:
according to the abrasion degree of the digital twin bodies, the braking force applied to the friction plates corresponding to each digital twin body is redistributed;
according to the abrasion degree of the digital twin bodies, braking control compensation is carried out on braking force applied to the friction plates corresponding to each digital twin body;
and according to the abrasion degree of the digital twin body, carrying out corresponding replacement reminding of the friction plate.
Further, said redistributing the braking force applied to the friction plate corresponding to each digital twin body according to the wear degree of the digital twin body comprises:
according to ten wear degree levels of 1-10 corresponding to the wear degree, converting the wear degree into a wear degree level representation; wherein the range of the abrasion degree level corresponds to 10-100% of the maximum allowable abrasion loss of the friction plate;
judging whether the maximum difference value between the abrasion degree levels of any two digital twin bodies is larger than a preset difference value or not;
If the maximum difference value is larger than the preset difference value as a judgment result, calculating a braking force weighting coefficient of each friction plate according to all the abrasion degree levels;
calculating the required braking force of each friction plate according to the total required braking force and each braking force weighting coefficient;
distributing the required braking force to the corresponding friction plate;
and if the maximum difference value is not larger than the preset difference value, the total required braking force is uniformly distributed on each friction plate.
Further, the braking control compensation for the braking force applied to the friction plate corresponding to each digital twin body according to the wear degree of the digital twin body comprises:
blurring processing is carried out on the required braking force and the actual abrasion of the friction plate; the actual wear is calculated by the maximum allowable wear amount of the friction plate and the corresponding wear degree level of the digital twin body;
according to the required braking force and the actual abrasion after the blurring processing, the braking force compensation after the blurring processing is obtained through a blurring rule table of the braking force compensation;
Defuzzifying the braking force compensation after the fuzzification treatment to obtain the braking force compensation;
and adding the required braking force and the braking force compensation to obtain corrected braking force, and applying the braking force to the corresponding friction plate.
Further, the reminding of replacement of the corresponding friction plate according to the wear degree of the digital twin body comprises:
judging whether the abrasion degree level corresponding to each friction plate reaches a first preset level or not;
if at least one abrasion degree level reaches the first preset level, carrying out first replacement reminding;
judging whether the abrasion degree level reaches a second preset level or not;
if the abrasion degree level reaches the second preset level, carrying out replacement reminding once every preset time;
if the abrasion degree level reaches the first preset level and does not reach the second preset level, carrying out replacement reminding once when the abrasion degree level is increased by one level;
and if the abrasion degree levels of all the friction plates do not reach the first preset level, not carrying out replacement reminding.
In another aspect, the present invention provides a digital twinning-based friction plate management system, comprising:
the data acquisition module is used for acquiring initial physical state data of the friction plates;
the model building module is used for building an initial digital twin model according to the initial physical state data; wherein the digital twin model comprises a plurality of digital twin bodies of the friction plates;
the current information acquisition module is used for acquiring current working environment information, vibration information and accumulated use time of the friction plates;
the abrasion speed mapping module is used for obtaining the current abrasion speed of the digital twin corresponding to each friction plate based on the digital twin corresponding to each friction plate and a long-short time memory network according to the current working environment information and the vibration information;
the wear degree mapping module is used for obtaining the current wear degree of the digital twin body according to the wear speed and the accumulated use time;
the model updating module is used for updating the thickness and the total abrasion amount of the digital twin body in the digital twin model in real time according to the abrasion degree of the digital twin body to obtain the digital twin model after being updated in real time;
And the brake management module is used for carrying out brake management on the friction plates corresponding to each digital twin body according to the digital twin model updated in real time.
In another aspect, the present invention also provides a vehicle including the digital twinning-based friction plate management system described above.
In another aspect, the present invention further provides a medium storing at least one instruction or at least one program, where the at least one instruction or the at least one program is loaded and executed by a processor to implement the above-mentioned friction plate management method based on digital twinning.
The implementation of the invention has the following beneficial effects:
1. the invention establishes the mapping between the friction plate real object and the digital twin body by utilizing the long and short time memory network, can simulate the abrasion condition of the friction plate in real time, realizes the real-time updating of the digital twin model, and has good real-time performance and high reliability; in addition, the invention can carry out various braking management on the friction plate and the braking system according to the abrasion conditions such as the abrasion speed and the like output by the model, and can improve the braking effect and the driving safety.
2. According to the invention, the braking force redistribution and braking control compensation are carried out on the friction plates according to the digital twin model updated in real time, so that on one hand, the abrasion of a plurality of friction plates is more uniform, and the service life of the friction plates is prolonged; on the other hand, the accuracy and the effectiveness of braking force applied to the friction plate can be improved, the braking effect is ensured, and the braking safety is improved.
3. According to the invention, the friction plate is replaced and reminded according to the digital twin model updated in real time, so that the friction plate is replaced in time, the situation that the braking effect is poor in the excessive abrasion state of the friction plate is avoided, and the driving safety of the vehicle is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a logic structure diagram of a friction plate management method based on digital twinning, which is provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a training set of long-short-term memory networks according to an embodiment of the present invention;
FIG. 3 is a logic structure diagram of a brake management method according to an embodiment of the present invention;
FIG. 4 is a logical block diagram of a braking force redistribution method in one possible embodiment of the present invention;
FIG. 5 is a logic block diagram of a brake control compensation method in one possible embodiment of the present invention;
FIG. 6 is a schematic diagram of feedforward control with brake control compensation in one possible embodiment of the present invention;
FIG. 7 is a simulated logic diagram of a fuzzy control method in accordance with one possible embodiment of the present invention;
FIG. 8 is a logical block diagram of a friction plate change alert method in one possible embodiment of the present invention;
FIG. 9 is a block diagram of a digital twinning-based friction plate management system in one possible embodiment of the present invention;
FIG. 10 is an architecture diagram of a digital twinning-based friction plate management system in accordance with one embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and thus should not be construed as limiting the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "first," "second," and the like in the description and the claims and drawings of the present invention are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the invention may be practiced otherwise than as specifically described or illustrated. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Aiming at the current situation that the abrasion loss of the friction plates cannot be estimated in real time and the abrasion loss of the friction plates is managed from the angle of the using process in the prior art, the embodiment provides a friction plate management method based on digital twinning, the friction plate management method based on digital twinning can also be applied to the friction plate management system based on digital twinning of the embodiment of the invention, the system is configured in a controller of a vehicle, the digital twinning bodies corresponding to the friction plates are established by acquiring physical state data of the friction plates, then the current working environment information, vibration information and accumulated using time of the friction plates are acquired, the current abrasion loss speed of the digital twinning bodies corresponding to each friction plate is obtained based on the digital twinning bodies and a long-short time memory network according to the working environment information and the vibration information, the thickness and the total abrasion loss of each digital twinning body in the digital twinning model are updated in real time according to the abrasion loss speed and the accumulated using time, the friction plates corresponding to each digital twinning body are braked and managed according to the digital twinning model updated in real time, on the one hand, the reliability is high, the comprehensive friction plate can be controlled in real time, and the service life of the friction plate can be controlled obviously and the safety is improved on the other hand.
The following describes the technical solution of the embodiment of the present invention in detail, taking the friction plates corresponding to the positions of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle as examples, referring to fig. 1 of the specification, the method includes:
s101, acquiring initial physical state data of a plurality of friction plates.
S103, establishing an initial digital twin model according to the initial physical state data; wherein the digital twin model comprises a plurality of digital twin bodies of the friction plates.
Wherein, the physical state data of the friction plate comprises geometric dimension information, material information and physical attribute information, in particular the relation between the friction coefficient of the corresponding friction plate and temperature, humidity and pressure; the physical state data can be obtained through a vehicle-mounted sensor or through scanning of a camera, and can also be directly obtained through factory calibration data of the friction plate.
The digital twin model is generally referred to herein as a model that represents the entire model including four friction plate digital twin bodies.
S105, acquiring current working environment information, vibration information and accumulated service time of a plurality of friction plates.
The working environment information comprises environmental conditions such as temperature, humidity and the like of the environment where the four friction plates are currently located, and also comprises load state information on the four friction plates, namely the magnitude of braking force applied to the friction plates; the vibration information is closely related to the abrasion deformation of the friction plate, so that the shape change and abrasion of the friction plate can be reflected to a great extent, the vibration information refers to the characteristic vector of the vibration information of the friction plate, the comprehensive information of transverse vibration and longitudinal vibration is included, and the characteristic vector of the vibration information is represented by a frequency domain signal obtained by secondary wavelet transformation.
In this embodiment, both the working environment information and the vibration information may be obtained by monitoring the sensing element in real time, for example, the ambient temperature may be obtained by a temperature sensor, and the monitored ambient temperature may be transmitted to the controller for subsequent use; meanwhile, accumulated use information can be obtained through the timing element, and convenience and rapidness are realized.
The obtained working environment information, vibration information and accumulated use time are used as the input of the digital twin model, so that the model is updated in real time in the subsequent step S107, the information reliability is high, and the model updating instantaneity is improved.
And S107, obtaining the current wear speed of the digital twin corresponding to each friction plate based on the digital twin corresponding to each friction plate and a long-short time memory network according to the current working environment information and the vibration information.
In order to realize the establishment of the mapping between the friction plate physical object and the digital twin body, a Long Short-Term Memory network (LSTM) is introduced, and the Long-Term Memory network is a time-circulating neural network and is specially designed for solving the Long-Term dependence problem existing in a common RNN (circulating neural network); based on the state of each digital twin body in the current model and according to the current working environment information and vibration information, respectively updating each digital twin body in real time through a trained long-short-time memory network to obtain the current wear speed of each digital twin body, and taking the four wear speeds as the output of the digital twin model to achieve the purpose of mapping the real object and the digital twin model.
And S109, obtaining the current abrasion degree of the digital twin body according to the abrasion speed and the accumulated use time.
And S111, updating the thickness and the total abrasion amount of the digital twin body in the digital twin model in real time according to the abrasion degree of the digital twin body, and obtaining the digital twin model after being updated in real time.
After the digital twin model updated in real time is obtained in the step, the states of the corresponding four digital twin bodies are also updated in real time, and the step S107 is returned, wherein the updated digital twin body information can be used as one of inputs of a long-short-time memory network when updated in the next time, so that the updating of the digital twin model in the next time is further realized, the iteration is circulated, and the instantaneity and the reliability of the model updating are improved.
Furthermore, in one possible embodiment of the present disclosure, the wear rate and the wear degree according to which the digital twin model is updated may be a matrix to implement three-dimensional wear state update of the digital twin body; in the subsequent braking management process, the three-dimensional real-time abrasion state of the friction plate is required to be low, the output abrasion speed can be only a numerical value, the difficulty of logic control is reduced, the reaction speed of the controller is improved, the braking management efficiency is improved, and the safety during braking is further improved.
And S113, performing braking management on the friction plates corresponding to each digital twin body according to the digital twin model updated in real time.
Because the digital twin model is obtained by updating in real time, the real-time performance is higher, the abrasion state of the current friction plate is fully considered in the brake management according to the digital twin model, and the four friction plates can be respectively and pertinently subjected to the brake management so as to prolong the service life of the friction plates, and meanwhile, the brake strategy can be adjusted in real time along with the abrasion state of the friction plates so as to improve the brake effect and ensure the effectiveness and the safety of the brake process.
Specifically, as shown in fig. 2 of the specification, before the current wear speed of the digital twin body corresponding to each friction plate is obtained based on the digital twin body corresponding to each friction plate and the long-short time memory network according to the current working environment information and the vibration information, that is, before step S107, the method further includes:
s202, setting working conditions of different working environments and different wearing conditions, and obtaining vibration information and accumulated use information of the friction plate through simulation so as to obtain a training set of the long-short-term memory network.
The method comprises the steps of training a long-short-time memory network, wherein the long-short-time memory network which is not trained may have insufficient accuracy, and based on the same input, the output of the network may be greatly different from a real object; the long-short-time memory network is trained, and can be continuously corrected according to the output and the physical state of the network, so that the final output of the long-short-time memory network is infinitely close to the real physical state, the simulation effect is good, and the accuracy is high.
In this embodiment, the training set of the long-short-time memory network may be obtained by performing simulation on the ring simulation platform by hardware, and vibration information and accumulated usage information of the friction plate are obtained by setting different environmental information and different wear conditions during training, that is, the corresponding relationship between the input and the output of the long-short-time memory network is obtained, so that the relatively accurate and real-time wear speed is obtained in the subsequent step S107.
Specifically, in one possible embodiment of the present specification, the wear rate as output in step S107 is expressed in terms of wear rate level, that is, the output of the model is a wear rate level divided into ten levels of 1 to 10, corresponding to 0 to 100% of the highest allowable wear rate, respectively, which can be obtained from factory calibration data of the corresponding friction plate.
The corresponding relation between each abrasion speed level and the percentage of the highest allowable abrasion speed can be set according to actual conditions, and the invention is not particularly limited to the specific relation; a wear rate level may correspond to a specific percentage value, e.g. a wear rate level 10 corresponds to 100% of the highest allowable wear rate, i.e. when the wear rate reaches 100%, the wear rate level is considered to reach the highest wear rate level 10; one wear rate level may correspond to one percentage range, but the interval lengths of the percentage ranges corresponding to different wear rate levels may be the same or different; for example, as shown in table 1 below, where the percentage ranges are all ranges that include the right side boundary value and not the left side boundary value, the wear rate level 1 corresponds to 0 to 10% of the highest allowable wear rate (the range including the right and not including the left), i.e., when the wear rate is in the range of 0 to 10% of the highest allowable wear rate (excluding the 0% boundary), the wear rate level is considered to be at the wear rate level 1.
Table 1 correspondence of wear rate level to highest allowable wear rate percentage in one possible embodiment
Specifically, as shown in fig. 3 of the specification, the step of performing brake management on the friction plate corresponding to each digital twin body according to the digital twin model updated in real time, that is, step S113 includes:
s301, according to the abrasion degree of the digital twin bodies, the braking force applied to the friction plates corresponding to each digital twin body is redistributed.
In the daily use process, the abrasion of the friction plates at different wheels is often uneven, and the situation that the abrasion of one friction plate is more serious than that of other friction plates easily occurs, so that the wooden barrel effect is caused; and S301 step maps the abrasion degree of the friction plate object according to the abrasion degree of each digital twin body, so that the braking force applied on each friction plate can be redistributed according to the abrasion degrees of different friction plates, the smaller braking force is distributed to the friction plate with heavier abrasion degree, and the larger braking force is distributed to the friction plate with lighter abrasion degree, thereby ensuring that the abrasion of the four friction plates is more uniform, being capable of being replaced once when the abrasion of the four friction plates reaches the degree of needing replacement, and avoiding the inconvenience in maintenance caused by frequent and multiple replacement of the friction plates.
And S303, according to the abrasion degree of the digital twin bodies, braking control compensation is carried out on braking force applied to the friction plates corresponding to each digital twin body.
The real-time wear degrees of different friction plates are different, and the existence of wear can lead to the expansion of the distance between the friction plate and the brake disc, so that certain factory calibration data of the friction plate are invalid to a certain extent, and the actual braking effect is influenced; the step can perform pressure compensation on errors caused by abrasion, so that braking force applied to the friction plate can achieve better and more accurate braking effect, and braking safety is guaranteed.
And S305, according to the abrasion degree of the digital twin body, carrying out corresponding replacement reminding of the friction plate.
In the step, different replacement reminding modes can be set according to different wear degrees; the replacement reminding mode can be a reminding mode such as a warning lamp, a warning message display and a buzzer which is easy to draw attention, and the invention is not particularly limited to the above.
Specifically, in one possible embodiment of the present disclosure, as shown in fig. 4 of the present disclosure, the redistributing, according to the wear degree of the digital twin body, the braking force applied to the friction plate corresponding to each digital twin body, that is, the step S301 includes:
S402, converting the abrasion degree into abrasion degree grade representation according to ten abrasion degree grades of 1-10 corresponding to the abrasion degree; wherein the range of the abrasion degree level corresponds to 10-100% of the maximum allowable abrasion amount of the friction plate.
It should be noted that, the wear level may also be used in the specific execution steps of the following steps S303 and S305.
Similar to the WEAR rate level described above, the maximum allowable WEAR amount WEAR max And the factory calibration data of the corresponding friction plate can also be directly obtained.
The corresponding relation between each abrasion degree level and the percentage of the maximum allowable abrasion loss can be set according to the actual situation, and the invention is not limited in particular; a wear level may correspond to a particular percentage value, e.g., wear level 1 represents that the wear level of the corresponding friction plate reaches 10% of the maximum allowable wear level; one wear level may correspond to one percentage range, but the interval lengths of the percentage ranges corresponding to different wear levels may be the same or different; for example, as shown in table 2 below, where the percentage ranges are all ranges including the left side boundary value and not including the right side boundary value, the wear level 1 represents that the wear level of the friction plate is in the range of 10 to 20% of the maximum allowable wear amount (the range includes the left side and does not include the right side), and the wear level 10 is more specific, representing that the wear level of the friction plate reaches 100% of the maximum allowable wear amount.
TABLE 2 correspondence of wear level to maximum allowable wear percentage in one possible embodiment
In addition, in this embodiment, the braking force redistribution management method is directed to a light-weight braking task, when the braking task is heavy, the management by adopting the method has no practical and effective meaning, and at this time, the braking force redistribution module is not started to redistribute the braking force, and before the step S402, the method further includes:
it is determined whether the vehicle speed at the time of braking is less than 20km/h.
If yes, for a light braking task, a braking force redistribution module is started, and the step S402 and the subsequent steps are executed to redistribute the braking force which should be applied to the four friction plates.
If not, the braking force redistribution module is not started, and the vehicle applies braking force to the four friction plates to brake according to the original control logic.
S404, judging whether the maximum difference value between the abrasion degree levels of any two digital twins is larger than a preset difference value.
Setting the maximum difference to be DeltaI max The abrasion degree level is set as IW fl 、IW fr 、IW rl With IW rr Dividing intoThe abrasion degree level of the left front digital twin body, the abrasion degree level of the right front digital twin body, the abrasion degree level of the left rear digital twin body and the abrasion degree level of the right rear digital twin body are respectively represented, and the four abrasion degree levels are all from the digital twin model
ΔI max ＝max(‖IW fr -IW fl ‖,‖IW fr -IW rl ‖,‖IW fr -IW rr ‖,
‖IW fl -IW rl ‖,‖IW fl -IW rr ‖,‖IW rr -IW rl ‖)
Comparing in all the abrasion degree levels, and determining that the judgment result is yes as long as the difference between the two abrasion degree levels is larger than a preset difference; otherwise, each difference value is not larger than the preset difference value, and the judgment result is considered as no; in one possible embodiment of the present disclosure, the preset difference may be selected to be 3, where the preset difference can clearly and effectively reflect that the wear gap between different friction plates is large, and likely to cause the barrel effect.
And S406, if the maximum difference value is larger than the preset difference value as a judgment result, calculating the braking force weighting coefficient of each friction plate according to all the abrasion degree levels.
Wherein, if the braking force weighting coefficient is k and the abrasion degree level of the four digital twin bodies is calculated, the braking force weighting coefficient of the left front digital twin body is
The braking force weighting coefficient of the right front digital twin body is
The braking force weighting coefficient of the left rear digital twin body is
The braking force weighting coefficient of the right rear digital twin body is
And obtaining the braking force weighting coefficient corresponding to each friction plate.
S408, calculating the required braking force of each friction plate according to the total required braking force and each braking force weighting coefficient.
Wherein the total required braking force is the force corresponding to the driver stepping on the brake pedal, and is set as F total Then four required braking forces are calculated according to the braking force weighting coefficients, and the front left required braking force is
F fl ＝k fl ×F total
The right front demand braking force is
F fr ＝k fr ×F total
The left rear demand braking force is
F rl ＝k rl ×F total
The right rear demand braking force is
F rr ＝k rr ×F total
So that the subsequent redistribution of the respective required braking forces is facilitated.
And S410, distributing the required braking force to the corresponding friction plate.
As can be seen from the formula in step S406, the friction plate with higher wear level has smaller braking force weighting coefficient, and the corresponding calculated required braking force in step S408 is smaller; on the contrary, the lower the abrasion degree level is, the larger the braking force weighting coefficient is, and the larger the corresponding calculated required braking force is in the step S408; that is, the formula of the braking force weighting coefficient in step S406 can ensure that the coefficient of the friction plate with the least wear is the largest, the coefficient of the friction plate with the largest wear is the smallest, and the sum of all braking force weighting coefficients is 1; then, through steps S406 to S410, the larger required braking force is distributed to the friction plate with smaller abrasion degree, and the smaller required braking force is distributed to the friction plate with larger abrasion degree, so as to realize the redistribution of braking force, so that the abrasion degree of the four friction plates is as uniform as possible, and the barrel effect is avoided.
And S412, if the maximum difference value is not greater than the preset difference value as a judgment result, the total required braking force is uniformly distributed on each friction plate.
The situation shows that the abrasion degree of each friction plate is not greatly different, the calculation force of the controller is not wasted to distinguish the required braking forces with different magnitudes, and the total required braking force can be divided into four parts to be respectively applied to the four friction plates, namely F fl ＝F fr ＝F rl ＝F rr ＝F total /4。
Specifically, in this embodiment, the distance between the brake disc and the friction plate increases due to wear, so that an error still exists between the calibrated required braking force and the actually required braking force, and in this case, the braking force can be compensated by using the braking control compensation module so as to fit the actually required braking force; as shown in fig. 6, a schematic diagram of feedforward control for brake control compensation in one possible embodiment of the present invention is shown.
Taking the right front wheel as an example, compasation Table is a pressure compensation table to be calibrated, p fr_comp Is the pressure compensation of the right front wheel, p fr_cor Is the corrected right front wheel brake pressure, p fr_req The requested pressure of the right front wheel is obtained by obtaining the abrasion degree level from the abrasion speed level output by the digital twin model in the feedforward control process, then obtaining the actual abrasion of the friction plate according to the abrasion degree level and the maximum allowable abrasion amount, finding the pressure compensation corresponding to the actual abrasion in the pressure compensation table to be calibrated, finally combining the pressure compensation with the requested pressure to obtain corrected braking pressure, realizing the braking force compensation, Braking force is more accurate and braking is more effective.
The pressure compensation table to be calibrated can be obtained by using but not limited to a Fuzzy Control method, wherein Fuzzy Control is abbreviated as Fuzzy logic Control (Fuzzy Logic Control), and when the Control is performed, the input quantity of a Fuzzy controller is selected and converted into the identifiable Fuzzy quantity of a system; then establishing a fuzzy rule base according to experience, wherein the fuzzy rule base comprises a plurality of control rules which are the basis for realizing a fuzzy control method and are key steps for transitioning from actual control experience to a fuzzy controller; realizing reasoning decision based on the fuzzy rule base; and finally, defuzzifying the control quantity obtained by reasoning, converting the control quantity into control output, and realizing complete fuzzy control.
Taking the fuzzy control method as an example, in one possible embodiment of the present specification, as shown in fig. 5 of the specification, the step of performing brake control compensation on the braking force applied to the friction plate corresponding to each digital twin body according to the wear degree of the digital twin body, namely, S303 includes:
s501, blurring processing is carried out on the required braking force and the actual abrasion of the friction plate; wherein the actual wear is calculated from a maximum allowable wear amount of the friction plate and the corresponding wear degree level of the digital twin body.
In this step, the effective sections of the requested pressure (i.e., the required braking force) are blurred, and each of these sections is denoted by NB, NM, NS, ZO, PS, PM, PB.
The actual WEAR is calculated by IW X WEAR max And/10, the calculated effective wear section of the actual wear is also subjected to blurring processing, which is also denoted by NB, NM, NS, ZO, PS, PM, PB, respectively.
S503, according to the required braking force and the actual abrasion after the blurring process, the braking force compensation after the blurring process is obtained through a blurring rule table of the braking force compensation.
Before this step S503, the output of the fuzzy rule table, that is, the pressure compensation is also subjected to the blurring process, and is also indicated by NB, NM, NS, ZO, PS, PM, PB.
A fuzzy rule table may be formulated based on the required braking force, actual wear and pressure compensation after the fuzzification, as shown in table 3 below, wherein E, EC and U are collectively referred to as fuzzy variables, E represents the output error, EC represents the rate of change of the output error, and U represents the control variable as input to the next state.
TABLE 3 fuzzy rule TABLE
In the actual braking compensation process, the braking force compensation after the blurring treatment can be obtained through table lookup by inputting the required braking force after the blurring treatment and the actual wear; in one possible implementation manner of the present disclosure, the steps S501 to S503 may be represented as a simulation logic block diagram as shown in fig. 7 of the present disclosure, where Fuzzy Logic Controller with Ruleviewer refers to a fuzzy logic controller with a rule viewer, "ln1" represents the required braking force of the input, and "ln2" represents the actual wear of the input, and the two inputs are input to the fuzzy logic controller after being subjected to the blurring process, so as to quickly obtain a blurred braking force compensation "out_u", and then the steps S505 and S507 are continuously performed to complete the whole braking control compensation flow.
And S505, defuzzifying the braking force compensation after the defuzzification processing to obtain the braking force compensation.
And S507, adding the required braking force and the braking force compensation to obtain corrected braking force, and applying the braking force to the corresponding friction plate.
Through the braking force compensation flow, errors between the actually applied braking force and factory calibration data of the friction plate can be effectively reduced, braking effects of the friction plate in different wear states are guaranteed, and braking safety is improved.
Specifically, in one possible embodiment of the present disclosure, as shown in fig. 8 of the present disclosure, the performing, according to the wear degree of the digital twin body, a replacement reminder of the corresponding friction plate, that is, step S305 includes:
s802, judging whether the abrasion degree level corresponding to each friction plate reaches a first preset level.
S804, if at least one abrasion degree level reaches the first preset level, a first replacement reminding is carried out.
S806, judging whether the abrasion degree level reaches a second preset level.
S808, if the abrasion degree level reaches the second preset level, carrying out replacement reminding every preset time.
S810, if the abrasion degree level reaches the first preset level and does not reach the second preset level, carrying out replacement reminding once when the abrasion degree level is increased by one level.
And S812, if the abrasion degree levels of all the friction plates do not reach the first preset level, not carrying out replacement reminding.
S305, reminding a vehicle owner of replacing a friction plate with larger abrasion loss so as to avoid the situation that braking errors, even braking failures, and safety of drivers and passengers are damaged due to abrasion of the friction plate in the braking process; in addition, in the reminding process, whether the abrasion degree level reaches a first preset level is firstly judged, and at the moment, the friction plate is in a state that the abrasion degree is higher, but can be used continuously, for example, the first preset level can be selected to be 7; and then continuously monitoring the abrasion degree level of the friction plate, and sending out a replacement prompt every time the abrasion degree level is increased by one level until the abrasion degree level reaches a second preset level of a higher level, for example, the second preset level can be set to be 10, the abrasion degree is maximum, the friction plate is required to be replaced, the replacement prompt level is further increased, the replacement prompt is sent out every preset time, wherein the preset time can be set according to actual conditions, for example, the replacement prompt is carried out every one hour, or the replacement prompt is carried out every half hour, and the like, so that a vehicle owner can timely notice the condition of the friction plate, timely maintain the friction plate, and the overall driving safety of the vehicle is high.
According to the embodiment, the friction plate management method based on digital twinning in the embodiment of the invention has the following beneficial effects:
1. the invention establishes the mapping between the friction plate real object and the digital twin body by utilizing the long and short time memory network, can simulate the abrasion condition of the friction plate in real time, realizes the real-time updating of the digital twin model, and has good real-time performance and high reliability; in addition, the invention can carry out various braking management on the friction plate and the braking system according to the abrasion conditions such as the abrasion speed and the like output by the model, and can improve the braking effect and the driving safety.
2. According to the invention, the braking force redistribution and braking control compensation are carried out on the friction plates according to the digital twin model updated in real time, so that on one hand, the abrasion of a plurality of friction plates is more uniform, and the service life of the friction plates is prolonged; on the other hand, the accuracy and the effectiveness of braking force applied to the friction plate can be improved, the braking effect is ensured, and the braking safety is improved.
3. According to the invention, the friction plate is replaced and reminded according to the digital twin model updated in real time, so that the friction plate is replaced in time, the situation that the braking effect is poor in the excessive abrasion state of the friction plate is avoided, and the driving safety of the vehicle is improved.
Corresponding to the digital twinning-based friction plate management method provided in the present embodiment, the embodiment of the present invention further provides a digital twinning-based friction plate management system, and since the digital twinning-based friction plate management system provided in the embodiment of the present invention corresponds to the digital twinning-based friction plate management method provided in the above embodiments, the implementation of the digital twinning-based friction plate management method is also applicable to the digital twinning-based friction plate management system provided in the present embodiment, and will not be described in detail in the present embodiment.
The friction plate management system based on digital twin provided by the embodiment of the invention can realize the friction plate management method based on digital twin in the method embodiment, as shown in the attached figure 9 of the specification, the system can comprise:
a data acquisition module 910, configured to acquire initial physical state data of a plurality of friction plates;
the model building module 920 is configured to build an initial digital twin model according to the initial physical state data; wherein the digital twin model comprises a plurality of digital twin bodies of the friction plates;
a current information obtaining module 930, configured to obtain current working environment information, vibration information and accumulated usage time of the plurality of friction plates;
The wear speed mapping module 940 is configured to obtain, according to the current working environment information and the vibration information, a current wear speed of the digital twin corresponding to each friction plate based on the digital twin corresponding to each friction plate and a long-short time memory network;
the wear degree mapping module 950 is configured to obtain a current wear degree of the digital twin body according to the wear speed and the accumulated usage time;
the model updating module 960 is configured to update the thickness and the total wear amount of the digital twin in the digital twin model in real time according to the wear degree of the digital twin, so as to obtain the digital twin model after being updated in real time;
and the brake management module 970 is configured to perform brake management on the friction plate corresponding to each digital twin body according to the digital twin model updated in real time.
It should be noted that, in the system provided in the foregoing embodiment, when implementing the functions thereof, only the division of the foregoing functional modules is used as an example, in practical application, the foregoing functional allocation may be implemented by different functional modules, that is, the internal structure of the device is divided into different functional modules, so as to implement all or part of the functions described above. In addition, the system and method embodiments provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the system and method embodiments are detailed in the method embodiments, which are not repeated herein.
Taking a specific embodiment as an example, as shown in fig. 10 of the specification, a vehicle has four wheels in four directions, namely a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, and the number of digital twins is set to be four, and a left front digital twin, a right front digital twin, a left rear digital twin and a right rear digital twin are correspondingly built in a digital twin module based on a long-short-time memory network according to a left front object, a right front object, a left rear object and a right rear object; the digital twin module can be regarded as an integrated module, has all functions of the data acquisition module 910, the model establishment module 920, the current information acquisition module 930, the wear speed mapping module 940, the wear degree mapping module 950 and the model updating module 960, and can realize real-time simulation updating of the digital twin body, and has good real-time performance and high reliability; in addition, the abrasion speed levels of the four digital twin bodies are used as the output of the model and output to the brake management module 970 for brake management, and in the embodiment, the brake management module 970 can further comprise a brake force redistribution module, a brake control compensation module and a friction plate replacement reminding module so as to realize different brake management on the friction plates, and the brake control module has high brake control precision and good sensitivity, can obviously improve the brake effect and improve the brake safety.
The embodiment of the invention also provides a vehicle, comprising the friction plate management system based on digital twinning, which is integrated in a controller of the vehicle, wherein the controller can comprise a processor and a memory, at least one instruction or at least one section of program is stored in the memory, and the at least one instruction or the at least one section of program is loaded and executed by the processor to realize the friction plate management method based on digital twinning.
The processor (or CPU (Central Processing Unit, central processing unit)) is a core component of the friction plate management system based on digital twinning, and the function of the processor is mainly to explain the memory instruction and process the data fed back by each module; the processor is generally divided into an arithmetic logic unit for performing related logic operations (e.g., shift operations, logic operations, fixed point or floating point arithmetic operations, and address operations), and a register unit for temporarily storing instructions, data, and addresses.
The memory is a memory device that can be used to store software programs and modules, and the processor executes the software programs and modules stored in the memory to perform various functional applications and data processing. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for functions, and the like; the storage data area may store data created according to the use of the device, etc.; accordingly, the memory may also include a memory controller to provide access to the memory by the processor.
The embodiment of the invention also provides a medium, wherein at least one instruction or at least one section of program is stored in the medium, and the at least one instruction or the at least one section of program is loaded and executed by a processor to realize the friction plate management method based on digital twinning; alternatively, the medium may be located on at least one network server of a plurality of network servers of a computer network; in addition, the medium may include, but is not limited to, a random access Memory (RAM, random Access Memory), a Read-Only Memory (ROM), a U-disk, a removable hard disk, a magnetic disk storage device, a flash Memory device, other volatile solid-state storage device, and the like, various storage media in which program codes may be stored.
It should be noted that the sequence of the embodiments of the present invention is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
While the invention has been described with respect to certain embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention, and it is intended to cover the invention as defined by the appended claims.
Claims (10)
1. The friction plate management method based on digital twinning is characterized by comprising the following steps of:
acquiring initial physical state data of a plurality of friction plates;
establishing an initial digital twin model according to the initial physical state data; wherein the digital twin model comprises a plurality of digital twin bodies of the friction plates;
acquiring current working environment information, vibration information and accumulated use time of a plurality of friction plates;
According to the current working environment information and the vibration information, obtaining the current wear speed of the digital twin corresponding to each friction plate based on the digital twin corresponding to each friction plate and a long-short time memory network;
obtaining the current wear degree of the digital twin body according to the wear speed and the accumulated use time;
updating the thickness and the total abrasion amount of the digital twin body in the digital twin model in real time according to the abrasion degree of the digital twin body to obtain the digital twin model after being updated in real time;
and carrying out braking management on the friction plates corresponding to each digital twin body according to the digital twin model updated in real time.
2. A digital twinning-based friction plate management method according to claim 1, wherein the wear rate is expressed in wear rate classes divided into ten classes of 1 to 10, the ten wear rate classes ranging from 0 to 100% of the highest allowable wear rate of the friction plate.
3. The method for managing friction plates based on digital twin according to claim 1, wherein before the current wear rate of the digital twin corresponding to each friction plate is obtained based on the digital twin corresponding to each friction plate and a long-short time memory network according to the current working environment information and the vibration information, the method further comprises:
Setting different working environments and different wearing working conditions, and obtaining vibration information and accumulated use information of the friction plate through simulation so as to obtain a training set of the long-short-term memory network.
4. The method for managing friction plates based on digital twinning according to claim 1, wherein the performing brake management on the friction plate corresponding to each digital twinning body according to the digital twinning model updated in real time comprises:
according to the abrasion degree of the digital twin bodies, the braking force applied to the friction plates corresponding to each digital twin body is redistributed;
according to the abrasion degree of the digital twin bodies, braking control compensation is carried out on braking force applied to the friction plates corresponding to each digital twin body;
and according to the abrasion degree of the digital twin body, carrying out corresponding replacement reminding of the friction plate.
5. The method of claim 4, wherein said redistributing the braking force applied to the friction plate corresponding to each digital twin body according to the degree of wear of the digital twin body comprises:
According to ten wear degree levels of 1-10 corresponding to the wear degree, converting the wear degree into a wear degree level representation; wherein the range of the abrasion degree level corresponds to 10-100% of the maximum allowable abrasion loss of the friction plate;
judging whether the maximum difference value between the abrasion degree levels of any two digital twin bodies is larger than a preset difference value or not;
if the maximum difference value is larger than the preset difference value as a judgment result, calculating a braking force weighting coefficient of each friction plate according to all the abrasion degree levels;
calculating the required braking force of each friction plate according to the total required braking force and each braking force weighting coefficient;
distributing the required braking force to the corresponding friction plate;
and if the maximum difference value is not larger than the preset difference value, the total required braking force is uniformly distributed on each friction plate.
6. The digital twin based friction plate management method according to claim 5, wherein the brake control compensation of the braking force applied to the friction plate corresponding to each digital twin body according to the degree of wear of the digital twin body comprises:
Blurring processing is carried out on the required braking force and the actual abrasion of the friction plate; the actual wear is calculated by the maximum allowable wear amount of the friction plate and the corresponding wear degree level of the digital twin body;
according to the required braking force and the actual abrasion after the blurring processing, the braking force compensation after the blurring processing is obtained through a blurring rule table of the braking force compensation;
defuzzifying the braking force compensation after the fuzzification treatment to obtain the braking force compensation;
and adding the required braking force and the braking force compensation to obtain corrected braking force, and applying the braking force to the corresponding friction plate.
7. The method for managing friction plates based on digital twinning according to claim 5, wherein the prompting of replacement of the corresponding friction plate according to the wear degree of the digital twinning body comprises:
judging whether the abrasion degree level corresponding to each friction plate reaches a first preset level or not;
if at least one abrasion degree level reaches the first preset level, carrying out first replacement reminding;
Judging whether the abrasion degree level reaches a second preset level or not;
if the abrasion degree level reaches the second preset level, carrying out replacement reminding once every preset time;
if the abrasion degree level reaches the first preset level and does not reach the second preset level, carrying out replacement reminding once when the abrasion degree level is increased by one level;
and if the abrasion degree levels of all the friction plates do not reach the first preset level, not carrying out replacement reminding.
8. A digital twinning-based friction plate management system, comprising:
the data acquisition module is used for acquiring initial physical state data of the friction plates;
the model building module is used for building an initial digital twin model according to the initial physical state data; wherein the digital twin model comprises a plurality of digital twin bodies of the friction plates;
the current information acquisition module is used for acquiring current working environment information, vibration information and accumulated use time of the friction plates;
the abrasion speed mapping module is used for obtaining the current abrasion speed of the digital twin corresponding to each friction plate based on the digital twin corresponding to each friction plate and a long-short time memory network according to the current working environment information and the vibration information;
The wear degree mapping module is used for obtaining the current wear degree of the digital twin body according to the wear speed and the accumulated use time;
the model updating module is used for updating the thickness and the total abrasion amount of the digital twin body in the digital twin model in real time according to the abrasion degree of the digital twin body to obtain the digital twin model after being updated in real time;
and the brake management module is used for carrying out brake management on the friction plates corresponding to each digital twin body according to the digital twin model updated in real time.
9. A vehicle comprising a digital twinning-based friction plate management system according to claim 8.
10. A medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement the digital twinning-based friction plate management method of any one of claims 1-7.
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